GNSS¶

Overview¶

GNSS Systems:

GPS (United States)
GLONASS (Russia)
BeiDou (China)
Galileo GNSS system (European Union)
IRNSS regional navigation satellite system (India)
QZSS regional navigation satellite system (Japan)

GNSS Coordinates:

ECEF（地心地固坐标系）
ECI（惯性坐标系）
LLA 坐标系：Longitude（经度）、Latitude（纬度）和 Altitude（高度）
站心坐标系：ENU（东北天坐标系）、NED（北东地坐标系）

GNSS in inertial navigation¶

Inertial navigation systems can take advantage of additional constellation to use more satellites and further improve signal robustness in harsh environments such as urban canyons, forests, mountains.

Aceinna/gnss-ins-sim: GNSS-INS-SIM is an GNSS/INS simulation project, which generates reference trajectories, IMU sensor output, GPS output, odometer output and magnetometer output.
aaronboda24/Loose-GNSS-IMU
karanchawla/GPS_IMU_Kalman_Filter

Books¶

北航 -- 数字导航中心电子教材
Global Navigation Satellite Systems, Inertial Navigation, and Integration, 3^rd Edition (link for code)